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Abstract

Despite the trend to pair white light endoscopy with secondary image modalities for in vivo characterization of suspicious lesions, challenges remain to co-register such data. We present an algorithm to co-register two different optical imaging modalities as a mother-daughter endoscopy pair. Using white light cystoscopy (mother) and optical coherence tomography (OCT) (daughter) as an example, we developed the first forward-viewing OCT endoscope that fits in the working channel of flexible cystoscopes and demonstrated our algorithm’s performance with optical phantom and clinical imaging data. The ability to register multimodal data opens opportunities for advanced analysis in cancer imaging applications.

Fig. 3 (a) Side view and (b) bottom view depicting the relationship between OCT shaft, WLC shaft and OCT footprint and their respective coordinate systems (c) Appearance of OCT endoscope in WLC image with important features indicated including shaft lines l1 and l2 and regions ri in which the shaft lines split the plane. Although the shaft edges are parallel in 3D space, the shaft lines intersect in the WLC image due to the perspective projection of the WLC.

Fig. 4 Radii and center points of OCT endoscope as a function of the distance the OCT endoscope protrudes from the end of the WLC (“protrusion distance,” d): (a) Representative WLC image with shaft lines and OCT footprints. (b) Overlay of footprints on WLC image mask. Trends and data for (c) footprint radius and (d) center point in pixels. Error bars and ellipses show ±1σ from mean. Standard deviation for (e) footprint radius and (f) center position in μm from trend.

Fig. 5 Example reconstruction and registration for in vivo bladder: (a) full reconstruction with registered OCT volumes (green) (b) zoomed in region (yellow box), and (c) original WLC images that correspond to two interest frame pairs. Color differences between reconstruction and original images are due to image preprocessing (Step A) that reduces lighting gradients. The yellow box in (a–b) represents an area of approximately 1 cm2. Arrows indicate similarities between reconstructed texture and original images.

Fig. 6 Example reconstruction and registration for phantom bladder : (a) full reconstruction overlaid with registered OCT volumes shown as the enface projections (green), (b) zoomed in region of complete reconstruction, and (c) example interest frame pairs from a tissue region [1] and brown-circle region [2]. In (b), the white circles in the OCT en face images correspond to the OCT B-scans shown in (c). The color differences between reconstruction and original images are due to an image-preprocessing algorithm (Step A), which causes the brown circles to appear pink. To emphasize the brown circles, they are outlined using a blue dotted line. The yellow box in (a–b) represents an area of 6.6 × 6.1 mm2. The blue boxes in (c) represents an area of 100 μm2. Arrows indicate similar vasculature between reconstructed texture and original WLC images.